CN111505667B - Multipath and observed noise abnormal integrity detection method based on dynamic-to-dynamic platform - Google Patents
Multipath and observed noise abnormal integrity detection method based on dynamic-to-dynamic platform Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/22—Multipath-related issues
Abstract
The invention belongs to the field of autonomous integrity monitoring, and particularly relates to a method for detecting abnormal integrity of multipath and observation noise of a dynamic-to-dynamic platform based on the integrity requirement of the system on the quality of observation data, which is used for realizing autonomous monitoring of multipath and observation noise of the global navigation satellite system locally enhanced by the dynamic-to-dynamic platform under the constraint condition of no reference. Constructing a double-difference pseudo-range and carrier phase observation model of original observation data, and constructing MW (molecular weight) combination by utilizing the carrier phase and pseudo-range double-difference observation model; based on a wavelength noise ratio maximization principle, the Beidou three-frequency combination coefficient is selected to quickly and reliably solve MW ultra-wide lane ambiguity and the like. The invention uses the detection threshold to synchronously control the false alarm rate and the omission factor under the constraint condition of no reference standard, can effectively and timely judge the availability of the data, carries out multipath and observation noise abnormal alarm, and eliminates unavailable data. The continuity requirement and integrity risk of the dynamic-to-dynamic platform system on the quality of the observed data are met.
Description
Technical Field
The invention belongs to the field of autonomous integrity monitoring (Receiver Autonomous Integrity Monitoring, RAIM), and particularly relates to an autonomous integrity monitoring method based on moving-to-moving platform multipath and observation noise, which realizes autonomous monitoring of moving-to-moving platform local enhanced global navigation satellite system (Global Navigation Satellite System, GNSS) multipath and observation noise under the constraint condition of no reference, and meets the integrity requirement of a system on the quality of observation data.
Background
There are many factors that affect fine positioning, such as the atmospheric propagation delay of the signal, satellite and receiver related errors, etc. Today, there is a deeper understanding of the sources of these error effects and many ways to effectively eliminate or attenuate them are available. Such as linear combination of multiple observables and differential techniques. The multipath and observation noise have different influences on the measured values of different frequency points and different environments, and the multipath and observation noise are difficult to be eliminated by utilizing a differential technology or establishing a mathematical model through multi-frequency linear combination, so that the multipath and observation noise become one of important factors affecting precise positioning.
The improvement of the antenna and receiver hardware technology greatly improves the influence of multipath effect, but increases great cost, and is difficult to popularize. The multipath influence and the observation noise are ignored in a positioning calculation model, and the method is applicable to a general environment, but in severe application environments such as urban canyons, the influence of the multipath and the observation noise on pseudo ranges can reach the level of meters, the influence on carrier phases can reach the level of centimeters, even the signal loss lock can be caused, and the method is one of important risk sources for influencing the precise positioning of a receiver in the severe environments. How to detect multipath and observe noise anomalies and timely correct alarms is a key to improving positioning performance in harsh application environments such as urban canyons. In summary, the design of a method for detecting abnormal integrity of multipath and observation noise based on local enhanced GNSS of a dynamic-to-dynamic platform has quite high urgency.
Disclosure of Invention
The invention aims to provide a method for constructing a geometric irrelevant-deionization layer type multipath and observation noise detection statistic by using a MW ultra-wide lane model, wherein a detection threshold is obtained by calculation according to a predefined false alarm constraint equation and the statistic distribution characteristic obeyed by the detection statistic when whether the multipath and the observation noise are abnormal or not, and the false alarm rate is controlled by the detection threshold. Under the condition of no alarm, the double constraint is formed by comparing the actual omission ratio with the omission ratio required by the system, so as to perfect the moving-to-moving platform multipath and observation noise abnormality integrity detection method based on the abnormality detection of multipath and observation noise.
The purpose of the invention is realized in the following way:
a multipath and observation noise abnormal integrity detection method based on a dynamic-to-dynamic platform comprises the following steps:
and 1, constructing a double-difference pseudo-range and carrier phase observation model of original observation data, and constructing MW combination by using the carrier phase and pseudo-range double-difference observation model. Based on the wavelength noise ratio maximization principle, the Beidou three-frequency combination coefficient is selected to quickly and reliably solve the MW ultra-wide lane ambiguity.
And 2, according to the ultra-wide lane ambiguity obtained in the step 1, obtaining the whole-cycle ambiguity of MW ultra-wide lane combination by using a Bootstrapping algorithm. And constructing test statistics according to the calculated double-difference carrier phase observance quantity of MW integer ambiguity and MW ultra-wide lane combination.
And step 3, obtaining a detection threshold according to the test statistic obtained in the step 1 and a predefined false alarm error constraint equation. When the detection statistic is larger than the detection threshold, multipath and observation noise are monitored and timely alarmed.
And 4, when all detection statistics are within a detection threshold, constructing a missing error detection error constraint equation based on a worst protection principle, calculating the actual missing detection rate, comparing the actual missing detection rate with the required missing detection rate, and monitoring multipath and observation noise to give an alarm in time when the actual missing detection rate is greater than the required missing detection rate.
And 5, confirming the quality of the observed data after the double test of the step 3 and the step 4 are simultaneously satisfied.
In the step 1, constructing MW ultra-wide lane combinations, and solving MW ultra-wide lane ambiguity comprises:
a. constructing a double-difference pseudo-range and carrier phase observation equation:
wherein: i=1, 2,3;
-double difference pseudorange observations;
-a double difference carrier phase observation in units of weeks;
-a double difference geometric distance;
-dual differential satellite ephemeris error, dual differential troposphere delay, dual differential ionosphere delay, respectively;
-double difference integer ambiguity;
-double-difference pseudorange and double-difference carrier-phase multipath and observation noise, respectively.
MW combination equation is as follows
Wherein: c is the speed of light;
i, j=1, 2,3 and i+.j;
MW groupCombining the double-difference carrier phase observations in units of distance;
-MW combined wavelength;
-double difference MW combined ambiguity;
when the three-frequency combination coefficient is (0, 1), MW combination is ultra-wide lane combination, and the wavelength is longest.
In the step 2, solving the MW ultra-wide lane integer ambiguity, and constructing the geometric irrelevant deionization layer type detection statistic comprises the following steps:
and solving the integer ambiguity of MW combination by using a Bootstrapping algorithm, and substituting the integer ambiguity into a constructed geometric independent deionization layer type observation equation to solve the test statistic.
Wherein:the MW ultra-wide lane integer ambiguity calculated by the Bootstrapping algorithm;
q-is the carrier phase observed residual.
Setting a detection threshold in the step 3, and controlling the false alarm rate comprises the following steps:
a. h is set for multipath and observation noise 0 : multipath and observation noise are not abnormal; set H 1 : multipath and observed noise anomalies; when the multipath and observation noise are not abnormal, the detection statistics are larger than the detection threshold, and false alarm errors are generated. The false alarm rate of the detection algorithm under the condition of successful and failed integer ambiguity resolution is calculated, the total false alarm error is the sum of the two conditions, the constraint equation is as follows,
P fa ＝P{|q|＞T|H 0 ,CF}P{CF}+P{|q|＞T|H 0 ,IF}P{IF}
wherein: p (P) fa -representing a predefined false alarm rate requirement;
t-represents a detection threshold;
CF-indicates that the ambiguity resolution is correct;
IF-indicates that the ambiguity resolution failed.
b. After the correctness of the integer ambiguity is checked, a required detection threshold T is calculated according to the false alarm rate requirement and the statistical distribution characteristic obeyed by the detection statistics when no abnormality exists in multipath and observation noise.
c. On the basis of restraining the influence of high-frequency observation noise on the whole-cycle ambiguity resolution by utilizing multi-epoch smoothing, a detection threshold distribution table related to the movement smoothing length and the false alarm rate is formed by traversing the movement smoothing length and the false alarm probability requirement, and a detection threshold T is required to be selected according to the selected movement smoothing length and the required false alarm performance in the actual use process.
d. The integrity of the multipath and the observation noise is monitored by comparing the detection statistic q with the detection threshold T, and when the detection statistic of a certain pair of satellites exceeds the detection threshold, the multipath and the observation noise are monitored and should be timely alarmed. Otherwise, the next step is entered.
Calculating the omission ratio in the step 4, and forming double constraints comprises:
when all detection statistics are within the protection level of the detection threshold T, a leakage error detection error constraint equation is formed based on the worst case protection principle as follows,
P md ＝P{|q|＜T|H 1 ,CF}P{CF}+P{|q|＜T|H 1 ,IF}P{IF}
wherein: p (P) md -actual omission ratio.
And calculating the missing detection probability of the multipath and observation noise at 50cm according to the obeyed statistical distribution of the detection statistics under the abnormal conditions of the multipath and observation noise, comparing the missing detection probability with the missing detection rate required by the system, and alarming in time when the missing detection probability is larger than the missing detection rate required by the system. Otherwise, the next step is entered.
The invention has the beneficial effects that:
under the constraint condition of no reference standard, the detection threshold is utilized to synchronously control the false alarm rate and the omission factor, so that the availability of the data can be effectively and timely judged, the multipath and observation noise abnormal alarm is carried out, and the unavailable data is removed. The continuity requirement and integrity risk of the dynamic-to-dynamic platform system on the quality of the observed data are met.
Drawings
Fig. 1 is a flow chart of a path of an autonomous integrity detection technique based on motion-to-motion platform multipath and observed noise.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention comprises the following steps:
and 1, constructing a double-difference pseudo-range and carrier phase observation model of original observation data, and constructing MW combination by using the carrier phase and pseudo-range double-difference observation model. Based on the wavelength noise ratio maximization principle, the GNSS three-frequency combination coefficient is properly selected to realize quick and reliable solution of MW ultra-wide lane ambiguity.
And 2, according to the ultra-wide lane ambiguity obtained in the step 1, obtaining the whole-cycle ambiguity of MW ultra-wide lane combination by using a Bootstrapping algorithm. And constructing test statistics according to the calculated double-difference carrier phase observance quantity of MW integer ambiguity and MW ultra-wide lane combination.
And step 3, obtaining a detection threshold according to the test statistic obtained in the step 2 and a predefined false alarm error constraint equation. When the detection statistic is larger than the detection threshold, multipath and observation noise are monitored and timely alarmed. Otherwise, go to the next step.
And 4, when all detection statistics are within a detection threshold, constructing a missing error detection error constraint equation based on a worst protection principle, calculating the actual missing detection rate, comparing the actual missing detection rate with the required missing detection rate, and monitoring multipath and observation noise to give an alarm in time when the actual missing detection rate is greater than the required missing detection rate.
And step 5, after the double hypothesis test of the step 3 and the step 4 are simultaneously satisfied, the integrity of the multipath and observation noise anomaly monitoring method is ensured, and the quality of the observation data is considered to be higher.
The invention integrates the technologies of double difference, RAIM, observational quantity combination and the like, utilizes the linear combination of GNSS three-frequency observables to construct the geometric irrelevant ionization layer type multipath and observation noise detection statistics, and utilizes the double constraint conditions of false alarm error constraint conditions and false leakage error detection error constraint conditions to realize the integrity monitoring of multipath errors and observation noise anomalies.
The MW ultra-wide lane is constructed in the step 1, so that ambiguity solving is facilitated, a geometric independent deionization layer type resolving model can be built by linear MW combination of three-frequency observables, attenuation of observation noise is facilitated by ultra-long wavelength, and further ambiguity solving and detection statistics constructing are facilitated.
And 2, calculating the integer ambiguity of the MW ultra-wide lane combination by using a Bootstrapping algorithm, wherein the Bootstrapping algorithm has an analytical theoretical probability statistical function, and can accurately give the confidence of success of the integer ambiguity calculation.
And 3, solving a detection threshold by using the statistical distribution obeyed by the detection statistics constructed in the step 1 and a predefined false alarm error constraint equation. If the detection statistic is greater than the detection threshold, multipath and observation noise monitor alarms.
And 4, when all detection statistics are within the protection level of the detection threshold T, forming a leakage error detection error constraint equation based on a worst case protection principle.
And 5, after double constraint of false alarm rate and omission factor, multipath and observation noise abnormal values are filtered better, and the requirements of the system on the integrity and availability of the quality of the observation data are met.
The method comprises the following specific steps:
and 1, constructing MW ultra-wide lane combinations, and solving MW ultra-wide lane ambiguity.
a. Constructing a double-difference pseudo-range and carrier phase observation equation:
wherein: i=1, 2,3;
-double difference pseudorange observations;
-a double difference carrier phase observation in units of weeks;
-a double difference geometric distance;
-dual differential satellite ephemeris error, dual differential troposphere delay, dual differential ionosphere delay, respectively;
-double difference integer ambiguity;
-double-difference pseudorange and double-difference carrier-phase multipath and observation noise, respectively.
MW combination equation is as follows
Wherein: c is the speed of light;
i, j=1, 2,3 and i+.j;
-MW combining the double difference carrier phase observations in distance units;
-MW combined wavelength;
-double difference MW combined ambiguity;
MW combining eliminates the influence of geometric distance and first-order ionosphere delay, and can properly select three-frequency combining coefficients based on the wavelength noise ratio maximization principle to realize quick reliability solution of MW ambiguity. When the three-frequency combination coefficient is (0, 1), the MW combination is ultra-wide lane combination, and the wavelength is longest.
And 2, solving the whole-cycle ambiguity of the MW ultra-wide lane and constructing a geometric irrelevant deionization layer type detection statistic.
a. After obtaining MW ultra-wide lane ambiguity, using Bootstrap algorithm to solve MW combined integer ambiguity, and substituting the integer ambiguity into the constructed geometrical irrelevant deionization layer observation equation to solve the test statistic. As described below,
wherein:-a MW ultra-wide lane integer ambiguity calculated by a Bootstrapping algorithm;
q-essentially reflects the carrier phase observed residual, mainly the effects of multipath and observed noise.
And step 3, setting a detection threshold and controlling the false alarm rate.
a. The following two assumptions are made for multipath and observed noise. Suppose H 0 : multipath and observation noise are not abnormal; suppose H 1 : multipath and observed noise anomalies; when the multipath and observation noise are not abnormal, the detection statistics are larger than the detection threshold, and false alarm errors are generated. Calculating the false alarm rate of the detection algorithm under the condition of success and failure of integer ambiguity resolution, wherein the total false alarm errors are twoThe sum of the cases, constraint equations are as follows,
P fa ＝P{|q|＞T|H 0 ,CF}P{CF}+P{|q|＞T|H 0 ,IF}P{IF} (5)
wherein: p (P) fa -representing a predefined false alarm rate requirement;
t-represents a detection threshold;
CF-indicates that the ambiguity resolution is correct;
IF-indicates that the ambiguity resolution failed.
b. After the correctness test of the integer ambiguity, the required detection threshold T can be calculated according to the false alarm rate requirement and the statistical distribution characteristic obeyed by the detection statistics when the multipath and the observation noise are not abnormal and aiming at the formula (5).
c. On the basis of restraining the influence of high-frequency observation noise on the whole-cycle ambiguity resolution by utilizing multi-epoch smoothing, a detection threshold distribution table related to the movement smoothing length and the false alarm rate is formed by traversing the movement smoothing length and the false alarm probability requirement, and a detection threshold T is required to be selected according to the selected movement smoothing length and the required false alarm performance in the actual use process.
d. Multipath and observed noise integrity can be monitored by comparing the detection statistic q to a detection threshold T. Multipath and observation noise monitoring should be alerted in time when a pair of satellite detection statistics exceeds a detection threshold. Otherwise, the next step is entered.
And 4, calculating the omission ratio to form double constraint.
When all detection statistics are within the protection level of the detection threshold T, a leakage error detection error constraint equation is formed based on the worst case protection principle as follows,
P md ＝P{|q|＜T|H 1 ,CF}P{CF}+P{|q|＜T|H 1 ,IF}P{IF} (6)
wherein: p (P) md -actual omission ratio.
And calculating the missing detection probability of the multipath and observation noise of 50cm by using the formula (6) according to the obeying statistical distribution of the detection statistics under the abnormal conditions of the multipath and observation noise, comparing the missing detection probability with the missing detection rate required by the system, and alarming in time when the missing detection probability is larger than the missing detection rate required by the system. Otherwise, the next step is entered.
And step 5, according to the required false alarm and missing detection probability, ensuring that no abnormality occurs in multipath and observation noise when the following two conditions are satisfied simultaneously: (1) the detection statistic is within the protection level of the detection threshold, wherein the detection threshold can be solved by the formula (5); (2) the actual miss rate calculated by equation (6) is less than the required miss rate.
When the double constraints are satisfied at the same time, the observed data is considered to have higher quality and can be subjected to positioning calculation. Otherwise, the observation data should be timely alarmed and removed.
The invention provides a multipath and observed noise abnormal integrity detection method based on a dynamic-to-dynamic platform. Under the condition of no reference dynamic reference layout, aiming at the characteristic that each type of space signal risk source has mutual coupling, the MW ultra-wide lane combination is utilized to solve the whole-cycle ambiguity, the amplification effect of MW combination coefficients on observation noise is stripped, the geometric independence-deionization layer type detection statistic is constructed, and the detection threshold is obtained according to the detection statistic and a predefined false alarm error constraint equation. If the detection statistic exceeds the detection threshold, the multipath and observation noise are considered to be abnormal, and the alarm is timely given. Otherwise, when all detection statistics are within the detection threshold protection level, the error leakage detection error constraint is required to be formed based on the worst case protection principle. And comparing the detection omission ratio of the multipath and observation noise at 50cm with the required detection omission ratio, and carrying out constraint calculation on the detection omission ratio error to form double-hypothesis test so as to perfect detection on multipath error and observation noise abnormal integrity. Under the conditions of severe environments such as urban canyons and the like and no reference standard constraint, the availability of the data can be effectively and timely informed.
Of course, the invention is capable of other various embodiments and its several details are capable of modification in accordance with the invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. The method for detecting the multipath and observed noise abnormal integrity based on the dynamic-to-dynamic platform is characterized by comprising the following steps:
step 1: constructing a double-difference pseudo-range and carrier phase observation model of original observation data, and constructing MW (molecular weight) combination by using the carrier phase and pseudo-range double-difference observation model; based on a wavelength noise ratio maximization principle, selecting a Beidou three-frequency combination coefficient to quickly and reliably solve MW ultra-wide lane ambiguity;
step 2: according to the ultra-wide lane ambiguity obtained in the step 1, obtaining the whole-cycle ambiguity of the MW ultra-wide lane combination by using a Bootstrapping algorithm; constructing test statistics according to the obtained double-difference carrier phase observational quantity of MW whole-cycle ambiguity and MW ultra-wide lane combination;
step 3: obtaining a detection threshold according to the test statistic obtained in the step 1 and a predefined false alarm false constraint equation; when the detection statistic is larger than the detection threshold, multipath and observation noise are monitored and timely alarmed;
step 4: when all detection statistics are within a detection threshold, constructing a missing error detection error constraint equation based on a worst protection principle, calculating an actual missing detection rate, comparing the actual missing detection rate with a required missing detection rate, and when the actual missing detection rate is greater than the required missing detection rate, monitoring multipath and observation noise and alarming in time;
step 5: after the double check of step 3 and step 4 are satisfied at the same time, the observed data quality is confirmed.
2. The method for detecting abnormal integrity of multipath and observation noise based on a motion-to-motion platform according to claim 1, wherein constructing a MW ultra-wide lane combination in step 1, solving MW ultra-wide lane ambiguity comprises:
constructing a double-difference pseudo-range and carrier phase observation equation:
wherein: i=1, 2,3;representing double-difference pseudo-range observables; />Representing a double difference carrier phase observation in units of weeks; />Is a double difference geometric distance; />The satellite ephemeris error, the dual-difference troposphere delay and the dual-difference ionosphere delay of the dual-difference satellite are respectively; />Representing double difference integer ambiguity; />Double-difference pseudo-range and double-difference carrier phase multipath and observation noise respectively;
the MW combination equation is as follows:
wherein c is the speed of light; i, j=1, 2,3 and i+.j;representing a double-difference carrier phase observation of MW combinations in distance units; lambda (lambda) MW Represents MW combined wavelength, < >> Representing double difference MW combined ambiguity; when the three-frequency combination coefficient is (0, 1), MW combination is ultra-wide lane combination, and the wavelength is longest.
3. The method for detecting abnormal integrity of multipath and observation noise based on a motion-to-motion platform according to claim 1, wherein the step 2 of solving the whole-cycle ambiguity of a MW ultra-wide lane, the construction of a geometry-independent deionization layer type detection statistic comprises:
the integer ambiguity of MW combination is solved by using a Bootstrapping algorithm, and then substituted into a built geometric irrelevant deionization layer type observation equation to solve the test statistic;
in the method, in the process of the invention,representing the MW ultra-wide lane integer ambiguity calculated by a Bootstrapping algorithm; q is the carrier phase observed residual.
4. The method for detecting abnormal integrity of multipath and observation noise based on a motion-to-motion platform as claimed in claim 1, wherein the step 3 of setting a detection threshold and controlling the false alarm rate comprises:
a. h is set for multipath and observation noise 0 : multipath and observation noise are not abnormal; set H 1 : multipath and observed noise anomalies; when the multipath and observation noise are not abnormal, the detection statistics are larger than the detection threshold, and false alarm errors are generated; the false alarm rate of the detection algorithm under the condition of successful and failed integer ambiguity resolution is calculated, the total false alarm error is the sum of the two conditions, the constraint equation is as follows,
P fa ＝P{|q|＞T|H 0 ,CF}P{CF}+P{|q|＞T|H 0 ,IF}P{IF}
wherein P is fa Representing a predefined false alarm rate requirement; t represents a detection threshold; CF indicates that the ambiguity resolution is correct; IF indicates that the ambiguity resolution failed;
b. after the correctness of the integer ambiguity is checked, calculating a required detection threshold T according to the false alarm rate requirement and the statistical distribution characteristic obeyed by the detection statistics when no abnormality exists in multipath and observation noise;
c. on the basis of restraining the influence of high-frequency observation noise on the whole-cycle ambiguity resolution by utilizing multi-epoch smoothing, a detection threshold distribution table related to the movement smoothing length and the false alarm rate is formed by traversing the movement smoothing length and the false alarm probability requirement, and a detection threshold T is required to be selected according to the selected movement smoothing length and the required false alarm performance in the actual use process;
d. by comparing the detection statistic q with the detection threshold T, the integrity of multipath and observation noise is monitored, and when the detection statistic of a certain pair of satellites exceeds the detection threshold, the multipath and observation noise is monitored and should be timely alarmed; otherwise, the next step is entered.
5. The method for detecting abnormal integrity of multipath and observation noise based on a motion-to-motion platform as claimed in claim 1, wherein calculating the omission ratio in step 4, forming a double constraint comprises:
when all detection statistics are within the protection level of the detection threshold T, a leakage error detection error constraint equation is formed based on the worst case protection principle as follows,
P md ＝P{|q|＜T|H 1 ,CF}P{CF}+P{|q|＜T|H 1 ,IF}P{IF}
wherein P is md Representing the actual omission factor; calculating the missing detection probability of the multipath and observation noise of 50cm according to the obeyed statistical distribution of the detection statistics under the abnormal conditions of the multipath and observation noise, comparing the missing detection probability with the missing detection rate required by the system, and alarming in time when the missing detection probability is larger than the missing detection rate required by the system; otherwise, the next step is entered.
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